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<div class="title">singleThreadLoopExample.cpp</div>  </div>
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<p>example showing how to run <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> thread from your own loop, without running a separate thread. Only use this technique if your platform/system does not support threading.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include &quot;Aria.h&quot;</span></div><div class="line"></div><div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div><div class="line">{</div><div class="line">  <a name="a0"></a><a class="code" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73">Aria::init</a>();</div><div class="line">  <a name="_a1"></a><a class="code" href="classArRobot.html">ArRobot</a> robot;</div><div class="line"></div><div class="line">  <span class="comment">// Connect to the robot, get some initial data from it such as type and name,</span></div><div class="line">  <span class="comment">// and then load parameter files for this robot.</span></div><div class="line">  <a name="_a2"></a><a class="code" href="classArRobotConnector.html">ArRobotConnector</a> robotConnector(NULL, &amp;robot);</div><div class="line">  <span class="keywordflow">if</span>(!robotConnector.<a name="a3"></a><a class="code" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d">connectRobot</a>())</div><div class="line">  {</div><div class="line">    <a name="a4"></a><a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a5"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;singleThreadExample: Could not connect to the robot.&quot;</span>);</div><div class="line">    <a name="a6"></a><a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">    <span class="keywordflow">return</span> 1;</div><div class="line">  }</div><div class="line"></div><div class="line"></div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a7"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;singleThreadExample: Connected to robot.&quot;</span>);</div><div class="line"></div><div class="line">  robot.<a name="a8"></a><a class="code" href="group__easy.html#gaa3657bebab0086dd14ed0c8c3f76dc8b">enableMotors</a>();</div><div class="line"></div><div class="line">  robot.<a name="a9"></a><a class="code" href="group__easy.html#gac4c369f0f8d8a41f2b3f2290bdcbb03c">setVel</a>(300);</div><div class="line">  robot.<a name="a10"></a><a class="code" href="group__easy.html#ga613157de1936d0c34ed73e32787ae661">setRotVel</a>(10);</div><div class="line"></div><div class="line">  <span class="keywordflow">while</span>(<span class="keyword">true</span>)</div><div class="line">  {</div><div class="line">    <a name="_a11"></a><a class="code" href="classArTime.html">ArTime</a> t;</div><div class="line">    <span class="comment">// Run one iteration of the ArRobot loop</span></div><div class="line">    robot.<a name="a12"></a><a class="code" href="classArRobot.html#ac59821b09bfe11ed80d30415c4788568">loopOnce</a>();</div><div class="line"></div><div class="line">    </div><div class="line">    <span class="comment">// Print out some data from the SIP.  </span></div><div class="line">    <span class="keywordtype">bool</span> soc = robot.<a name="a13"></a><a class="code" href="classArRobot.html#a5b6c74dfe47a9148fc41f43042ccebe4">hasStateOfCharge</a>();</div><div class="line">    <span class="keywordtype">float</span> battv = 0.0;</div><div class="line">    <span class="keywordflow">if</span>(soc)</div><div class="line">      battv = robot.<a name="a14"></a><a class="code" href="classArRobot.html#a072a1abd7fdd59adab416596ac66d440">getStateOfCharge</a>();</div><div class="line">    <span class="keywordflow">else</span></div><div class="line">      battv = robot.<a name="a15"></a><a class="code" href="classArRobot.html#a8d1637a9f3d37e55768d2aa1c8c272d6">getBatteryVoltage</a>();</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;singleThreadExample: Pose=(%.2f,%.2f,%.2f), Trans.  Vel=%.2f, Battery=%.2f%c&quot;</span>, robot.<a name="a16"></a><a class="code" href="group__easy.html#ga4c994926aaefc4c86380f1a74e508a76">getX</a>(), robot.<a name="a17"></a><a class="code" href="group__easy.html#ga9164db66102fdf9d422feefdadffca92">getY</a>(), robot.<a name="a18"></a><a class="code" href="group__easy.html#gaefe932449c50da9ca0f8084cd9639583">getTh</a>(), robot.<a name="a19"></a><a class="code" href="group__easy.html#gad75dbd9aede7b7f57c9a38902b8aa1ce">getVel</a>(), battv, soc?<span class="charliteral">&#39;%&#39;</span>:<span class="charliteral">&#39;V&#39;</span>);</div><div class="line"></div><div class="line"></div><div class="line"></div><div class="line"></div><div class="line">    <span class="comment">// slow the loop down a little bit.</span></div><div class="line">    </div><div class="line">    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sleepTime = 20;</div><div class="line">    <span class="keywordflow">if</span>(t.<a name="a20"></a><a class="code" href="group__easy.html#gabfac503dbf12dac57c8dc133d0b034a1">mSecSince</a>() &gt; 20)</div><div class="line">      sleepTime = 0;</div><div class="line">    <span class="keywordflow">else</span></div><div class="line">      sleepTime -= t.<a class="code" href="group__easy.html#gabfac503dbf12dac57c8dc133d0b034a1">mSecSince</a>();</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;singleThreadExample: loop took %lu ms, sleeping %lu ms&quot;</span>, t.<a class="code" href="group__easy.html#gabfac503dbf12dac57c8dc133d0b034a1">mSecSince</a>(), sleepTime);</div><div class="line"></div><div class="line">    <span class="keywordflow">if</span>(t.<a class="code" href="group__easy.html#gabfac503dbf12dac57c8dc133d0b034a1">mSecSince</a>() &gt; 100)</div><div class="line">      <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;singleThreadExample: warning: loop took longer than 100ms&quot;</span>);</div><div class="line"></div><div class="line">    <a name="a21"></a><a class="code" href="group__easy.html#ga4dfb878a3f9123b8dd96ae05b2fd94cb">ArUtil::sleep</a>(sleepTime);</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="keywordflow">return</span> 0;</div><div class="line">}</div></div><!-- fragment --> </div><!-- contents -->
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